在分析激光加工过程中的热应力问题之前,首先讨论一下弹性体的应力应变问题。
在此之前,先来了解几个基本参数:
- E:拉压弹性模量
- μ \mu μ:泊松比
- G:剪切弹性模量 G = E 2 ( 1 + μ ) G=\frac{E}{2(1+\mu)} G=2(1+μ)E
1.基本假设与基本物理量
关于物质性质的几点假设(线弹性理论):
- 物体是连续的(可以用坐标的连续性函数表示);
- 物体是完全弹性的(变形后可恢复);
- 物体是均匀且各向同性的(非晶体);
- 物体的位移和变形是微小的(不需考虑物体尺寸变化);
- 物体内无原始应力(无残余内应力)。
体力与面力:
- 体力,又叫体积力,作用于物体体积内,如:重力,磁力等;
- 面力,分布于物体表面,如:压力、静水压力等;
应力:
- 正应力 σ \sigma σ:垂直于截面方向,也可用 τ x x \tau_{xx} τxx 表示;
- 剪应力 τ \tau τ: 平行于界面方向;
-
τ
x
y
\tau_{xy}
τxy 含义:剪应力位于垂直于
x
轴的平面上,并与y
轴平行; - 剪切力互等定理: τ x y = τ y x , τ x z = τ z x , τ z y = τ y z \tau_{xy}=\tau_{yx},\tau_{xz}=\tau_{zx},\tau_{zy}=\tau_{yz} τxy=τyx,τxz=τzx,τzy=τyz
- 正负判定:截面外法线方向沿坐标轴正方向,则以坐标轴正方向为正;否则,以坐标轴负方向为正。其正方向如下图所示:
- 应力的矩阵形式:
σ = [ σ x σ y σ z τ x y τ y z τ z x ] T \mathbf \sigma=\begin{matrix} [ \sigma_x & \sigma_y & \sigma_z & \tau_{xy}&\tau_{yz}&\tau_{zx}]^T \end{matrix} σ=[σxσyσzτxyτyzτzx]T
应变:
- 正应变:各棱边的伸长或缩短(拉伸为正),符号: ε x \varepsilon_x εx;
- 剪应变:边与边之间夹角的变化(角度变小为正),符号 γ x y \gamma_{xy} γxy;
- 矩阵形式: ε = [ ε x ε y ε z γ x y γ y z γ z x ] T \mathbf \varepsilon=\begin{matrix} [ \varepsilon_x &\varepsilon_y &\varepsilon_z & \gamma_{xy}&\gamma_{yz}&\gamma_{zx}]^T \end{matrix} ε=[εxεyεzγxyγyzγzx]T
边界条件:
- 位移边界条件(边界位移已知);
- 应力边界条件(面力大小已知);
- 混合边界条件(以上两种边界条件均存在)。
2.应变与位移的关系
位移应变:(任取空间一点P,以xoy
平面为例进行分析)
ε
=
[
∂
u
∂
x
∂
v
∂
y
∂
w
∂
z
∂
v
∂
x
+
∂
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∂
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∂
w
∂
y
+
∂
v
∂
z
∂
u
∂
z
+
∂
w
∂
x
]
T
\varepsilon=\begin{matrix} [ \frac{\partial u}{\partial x} &\frac{\partial v}{\partial y} & \frac{\partial w}{\partial z} & \frac{\partial v}{\partial x}+\frac{\partial u}{\partial y} &\frac{\partial w}{\partial y}+\frac{\partial v}{\partial z} &\frac{\partial u}{\partial z}+\frac{\partial w}{\partial x} ]^T \end{matrix}
ε=[∂x∂u∂y∂v∂z∂w∂x∂v+∂y∂u∂y∂w+∂z∂v∂z∂u+∂x∂w]T
体积应变(三个方向正应变之和):
e
≈
ε
x
+
ε
y
+
ε
z
=
∂
u
∂
x
+
∂
v
∂
y
+
∂
w
∂
z
e\approx\varepsilon_x+\varepsilon_y+\varepsilon_z=\frac{\partial u}{\partial x}+\frac{\partial v}{\partial y}+\frac{\partial w}{\partial z}
e≈εx+εy+εz=∂x∂u+∂y∂v+∂z∂w
刚体位移(物体形状不变,应变为零):
如上图所示,在物体中任意一点P处所取的正平行六面微元体,徽元体各面与坐标面平行,
现讨论微元六面立方体变形后,平行于xoy
坐标面的PNQR
面的对角线PQ
绕Z轴的转角
ω
z
\omega_z
ωz:
ω
z
=
1
2
(
α
y
x
−
α
x
y
)
=
1
2
(
∂
v
∂
x
−
∂
u
∂
y
)
\omega_z=\frac 12(\alpha_{yx}-\alpha_{xy})=\frac 12(\frac{\partial v}{\partial x} -\frac{\partial u}{\partial y})
ωz=21(αyx−αxy)=21(∂x∂v−∂y∂u)
同理,可求得微元立方体另外两个投影面的对角线PS及PT绕y轴和x轴的转角
ω
y
\omega_y
ωy 及
ω
x
\omega_x
ωx ;则:
ω
x
=
1
2
(
∂
w
∂
y
−
∂
v
∂
z
)
\omega_x=\frac 12(\frac{\partial w}{\partial y} -\frac{\partial v}{\partial z})
ωx=21(∂y∂w−∂z∂v)
ω y = 1 2 ( ∂ u ∂ z − ∂ w ∂ x ) \omega_y=\frac 12(\frac{\partial u}{\partial z} -\frac{\partial w}{\partial x}) ωy=21(∂z∂u−∂x∂w)
ω z = 1 2 ( ∂ v ∂ x − ∂ u ∂ y ) \omega_z=\frac 12(\frac{\partial v}{\partial x} -\frac{\partial u}{\partial y}) ωz=21(∂x∂v−∂y∂u)
另外,若假设物体形状不变,即应变为零,并且物体内各点位移是坐标的线性函数(均匀变形),则:
u
=
u
0
+
ω
y
z
+
ω
z
y
u=u_0+\omega_yz+\omega_zy
u=u0+ωyz+ωzy
v = v 0 + ω z x + ω x z v=v_0+\omega_zx+\omega_xz v=v0+ωzx+ωxz
w = w 0 + ω x y + ω y x w=w_0+\omega_xy+\omega_yx w=w0+ωxy+ωyx
u
0
、
v
0
、
w
0
u_0、v_0、w_0
u0、v0、w0 分别表示P
点在x、y、z方向上的位移。
3.应力与应变关系
{ ε x = 1 E [ σ x − μ ( σ y + σ z ) ] ε y = 1 E [ σ y − μ ( σ x + σ z ) ] ε z = 1 E [ σ z − μ ( σ x + σ y ) ] γ x y = τ x y G γ y z = τ y z G γ z x = τ z x G \begin{cases}\varepsilon_x=\frac{1}{E}[\sigma_x-\mu(\sigma_y+\sigma_z)]\\[1.5ex] \varepsilon_y=\frac{1}{E}[\sigma_y-\mu(\sigma_x+\sigma_z)]\\[1.5ex] \varepsilon_z=\frac{1}{E}[\sigma_z-\mu(\sigma_x+\sigma_y)]\\[1.5ex] \gamma_{xy}=\frac{\tau_{xy}}{G}\\[1.5ex] \gamma_{yz}=\frac{\tau_{yz}}{G}\\[1.5ex] \gamma_{zx}=\frac{\tau_{zx}}{G} \end{cases} ⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧εx=E1[σx−μ(σy+σz)]εy=E1[σy−μ(σx+σz)]εz=E1[σz−μ(σx+σy)]γxy=Gτxyγyz=Gτyzγzx=Gτzx
以应变分量表示应力分量:
{
σ
x
=
E
(
1
−
μ
)
(
1
+
μ
)
(
1
−
2
μ
)
(
ε
x
+
μ
1
−
μ
ε
y
+
μ
1
−
μ
ε
z
)
σ
y
=
E
(
1
−
μ
)
(
1
+
μ
)
(
1
−
2
μ
)
(
ε
y
+
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1
−
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ε
z
+
μ
1
−
μ
ε
x
)
σ
z
=
E
(
1
−
μ
)
(
1
+
μ
)
(
1
−
2
μ
)
(
ε
z
+
μ
1
−
μ
ε
x
+
μ
1
−
μ
ε
y
)
τ
x
y
=
G
γ
x
y
=
E
2
(
1
+
μ
)
γ
x
y
τ
y
z
=
G
γ
y
z
=
E
2
(
1
+
μ
)
γ
y
z
τ
z
x
=
G
γ
z
x
=
E
2
(
1
+
μ
)
γ
z
x
\begin{cases}\sigma_x=\frac{E(1-\mu)}{(1+\mu)(1-2\mu)}(\varepsilon_x+\frac\mu{1-\mu}\varepsilon_y+\frac\mu{1-\mu}\varepsilon_z)\\[1.5ex] \sigma_y=\frac{E(1-\mu)}{(1+\mu)(1-2\mu)}(\varepsilon_y+\frac\mu{1-\mu}\varepsilon_z+\frac\mu{1-\mu}\varepsilon_x)\\[1.5ex] \sigma_z=\frac{E(1-\mu)}{(1+\mu)(1-2\mu)}(\varepsilon_z+\frac\mu{1-\mu}\varepsilon_x+\frac\mu{1-\mu}\varepsilon_y)\\[1.5ex] \tau_{xy}=G\gamma_{xy}=\frac E{2(1+\mu)}\gamma_{xy}\\[1.5ex] \tau_{yz}=G\gamma_{yz}=\frac E{2(1+\mu)}\gamma_{yz}\\[1.5ex] \tau_{zx}=G\gamma_{zx}=\frac E{2(1+\mu)}\gamma_{zx} \end{cases}
⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧σx=(1+μ)(1−2μ)E(1−μ)(εx+1−μμεy+1−μμεz)σy=(1+μ)(1−2μ)E(1−μ)(εy+1−μμεz+1−μμεx)σz=(1+μ)(1−2μ)E(1−μ)(εz+1−μμεx+1−μμεy)τxy=Gγxy=2(1+μ)Eγxyτyz=Gγyz=2(1+μ)Eγyzτzx=Gγzx=2(1+μ)Eγzx
将上述方程组整理成矩阵形式:
σ
=
D
ε
\sigma=\mathbf D\varepsilon
σ=Dε
D = E ( 1 − μ ) ( 1 + μ ) ( 1 − 2 μ ) [ 1 μ 1 − μ μ 1 − μ 0 0 0 μ 1 − μ 1 μ 1 − μ 0 0 0 μ 1 − μ μ 1 − μ 1 0 0 0 0 0 0 1 − 2 μ 2 ( 1 − μ ) 0 0 0 0 0 0 1 − 2 μ 2 ( 1 − μ ) 0 0 0 0 0 0 1 − 2 μ 2 ( 1 − μ ) ] \mathbf D=\frac{E(1-\mu)}{(1+\mu)(1-2\mu)} \begin{bmatrix} 1&\frac\mu{1-\mu}&\frac\mu{1-\mu}&0&0&0\\ \frac\mu{1-\mu}&1&\frac\mu{1-\mu}&0&0&0\\ \frac\mu{1-\mu}&\frac\mu{1-\mu}&1&0&0&0\\ 0&0&0&\frac{1-2\mu}{2(1-\mu)}&0&0\\ 0&0&0&0&\frac{1-2\mu}{2(1-\mu)}&0\\ 0&0&0&0&0&\frac{1-2\mu}{2(1-\mu)} \end{bmatrix} D=(1+μ)(1−2μ)E(1−μ)⎣⎢⎢⎢⎢⎢⎢⎢⎡11−μμ1−μμ0001−μμ11−μμ0001−μμ1−μμ10000002(1−μ)1−2μ0000002(1−μ)1−2μ0000002(1−μ)1−2μ⎦⎥⎥⎥⎥⎥⎥⎥⎤
对于体积应变
e
e
e
e
=
ε
x
+
ε
y
+
ε
z
=
1
−
2
μ
E
(
σ
x
+
σ
y
+
σ
z
)
e=\varepsilon_x+\varepsilon_y+\varepsilon_z=\frac{1-2\mu}E(\sigma_x+\sigma_y+\sigma_z)
e=εx+εy+εz=E1−2μ(σx+σy+σz)
令
Θ
=
σ
x
+
σ
y
+
σ
z
\Theta =\sigma_x+\sigma_y+\sigma_z
Θ=σx+σy+σz,记为体积应力,则:
e
=
ε
x
+
ε
y
+
ε
z
=
1
−
2
μ
E
Θ
e=\varepsilon_x+\varepsilon_y+\varepsilon_z=\frac{1-2\mu}E\Theta
e=εx+εy+εz=E1−2μΘ
拉梅常数:
σ x = E ( 1 − μ ) ( 1 + μ ) ( 1 − 2 μ ) ( ε x + μ 1 − μ ε y + μ 1 − μ ε z ) = E ( 1 − μ ) ( 1 + μ ) ( 1 − 2 μ ) [ ε x + μ 1 − μ ( ε y + ε + ε x ) − μ 1 − μ ε x ] = E ( 1 − μ ) ( 1 + μ ) ( 1 − 2 μ ) ( μ 1 − μ e + 1 − 2 μ 1 − μ ε x ) = E μ ( 1 + μ ) ( 1 − 2 μ ) e + E 1 + μ ε x \begin{aligned} \sigma_x &= \frac{E(1-\mu)}{(1+\mu)(1-2\mu)}(\varepsilon_x+\frac\mu{1-\mu}\varepsilon_y+\frac\mu{1-\mu}\varepsilon_z)\\ &=\frac{E(1-\mu)}{(1+\mu)(1-2\mu)}[\varepsilon_x+\frac\mu{1-\mu} (\varepsilon_y+\varepsilon+\varepsilon_x)-\frac\mu{1-\mu}\varepsilon_x]\\ &=\frac{E(1-\mu)}{(1+\mu)(1-2\mu)}(\frac\mu{1-\mu}e+\frac{1-2\mu}{1-\mu}\varepsilon_x)\\ &=\frac{E\mu}{(1+\mu)(1-2\mu)}e+\frac{E}{1+\mu}\varepsilon_x \end{aligned} σx=(1+μ)(1−2μ)E(1−μ)(εx+1−μμεy+1−μμεz)=(1+μ)(1−2μ)E(1−μ)[εx+1−μμ(εy+ε+εx)−1−μμεx]=(1+μ)(1−2μ)E(1−μ)(1−μμe+1−μ1−2μεx)=(1+μ)(1−2μ)Eμe+1+μEεx
同理,
σ
y
=
E
μ
(
1
+
μ
)
(
1
−
2
μ
)
e
+
E
1
+
μ
ε
y
\sigma_y=\frac{E\mu}{(1+\mu)(1-2\mu)}e+\frac{E}{1+\mu}\varepsilon_y
σy=(1+μ)(1−2μ)Eμe+1+μEεy
σ z = E μ ( 1 + μ ) ( 1 − 2 μ ) e + E 1 + μ ε z \sigma_z=\frac{E\mu}{(1+\mu)(1-2\mu)}e+\frac{E}{1+\mu}\varepsilon_z σz=(1+μ)(1−2μ)Eμe+1+μEεz
令
λ
=
E
μ
(
1
+
μ
)
(
1
−
2
μ
)
\lambda=\frac{E\mu}{(1+\mu)(1-2\mu)}
λ=(1+μ)(1−2μ)Eμ
记为拉梅常数,则:
σ
x
=
λ
e
+
2
G
ε
x
\sigma_x=\lambda e+2G\varepsilon_x
σx=λe+2Gεx
σ
y
=
λ
e
+
2
G
ε
y
\sigma_y=\lambda e+2G\varepsilon_y
σy=λe+2Gεy
σ
z
=
λ
e
+
2
G
ε
z
\sigma_z=\lambda e+2G\varepsilon_z
σz=λe+2Gεz
5.变形连续方程(相容方程)
微元体六个应变量必须是协调的,其存在以下关系:
∂
2
ε
x
∂
2
y
2
+
∂
2
ε
y
∂
2
x
2
=
∂
2
γ
x
y
∂
x
∂
y
\frac{\partial^2\varepsilon_x}{\partial^2 y^2}+\frac{\partial^2\varepsilon_y}{\partial^2 x^2}=\frac{\partial^2\gamma_{xy}}{\partial x\partial y}
∂2y2∂2εx+∂2x2∂2εy=∂x∂y∂2γxy
∂ 2 ε y ∂ 2 z 2 + ∂ 2 ε z ∂ 2 y 2 = ∂ 2 γ y z ∂ y ∂ z \frac{\partial^2\varepsilon_y}{\partial^2 z^2}+\frac{\partial^2\varepsilon_z}{\partial^2 y^2}=\frac{\partial^2\gamma_{yz}}{\partial y\partial z} ∂2z2∂2εy+∂2y2∂2εz=∂y∂z∂2γyz
∂ 2 ε z ∂ 2 x 2 + ∂ 2 ε x ∂ 2 z 2 = ∂ 2 γ z x ∂ z ∂ x \frac{\partial^2\varepsilon_z}{\partial^2 x^2}+\frac{\partial^2\varepsilon_x}{\partial^2 z^2}=\frac{\partial^2\gamma_{zx}}{\partial z\partial x} ∂2x2∂2εz+∂2z2∂2εx=∂z∂x∂2γzx
∂ ∂ x ( ∂ γ z x ∂ y + ∂ γ x y ∂ z − ∂ γ y z ∂ x ) = 2 ∂ 2 ε x ∂ y ∂ z \frac \partial{\partial x}(\frac{\partial\gamma_{zx}}{\partial y}+\frac{\partial\gamma_{xy}}{\partial z}-\frac{\partial\gamma_{yz}}{\partial x})=2\frac{\partial^2\varepsilon_{x}}{\partial y\partial z} ∂x∂(∂y∂γzx+∂z∂γxy−∂x∂γyz)=2∂y∂z∂2εx
∂ ∂ y ( ∂ γ x y ∂ z + ∂ γ y z ∂ x − ∂ γ z x ∂ y ) = 2 ∂ 2 ε y ∂ z ∂ x \frac \partial{\partial y}(\frac{\partial\gamma_{xy}}{\partial z}+\frac{\partial\gamma_{yz}}{\partial x}-\frac{\partial\gamma_{zx}}{\partial y})=2\frac{\partial^2\varepsilon_{y}}{\partial z\partial x} ∂y∂(∂z∂γxy+∂x∂γyz−∂y∂γzx)=2∂z∂x∂2εy
∂ ∂ z ( ∂ γ y z ∂ x + ∂ γ z x ∂ y − ∂ γ x y ∂ z ) = 2 ∂ 2 ε z ∂ x ∂ y \frac \partial{\partial z}(\frac{\partial\gamma_{yz}}{\partial x}+\frac{\partial\gamma_{zx}}{\partial y}-\frac{\partial\gamma_{xy}}{\partial z})=2\frac{\partial^2\varepsilon_{z}}{\partial x\partial y} ∂z∂(∂x∂γyz+∂y∂γzx−∂z∂γxy)=2∂x∂y∂2εz
这六个微分方程式又称为变形连续方程(相容方程)。当弹性体在外部载荷或温度影响下产生应力应变时:
- 若先求得位移分量,则可根据位移分量直接求得应变分量,满足相容条件;
- 若先求得应力分量,由应力推导应变,则必须验证变形连续方程,才能得到准确的位移。
6.位移分量求解应力及边界条件
σ x = E μ ( 1 + μ ) ( 1 − 2 μ ) e + E 1 + μ ∂ u ∂ x \sigma_x=\frac{E\mu}{(1+\mu)(1-2\mu)}e+\frac{E}{1+\mu}\frac{\partial u}{\partial x} σx=(1+μ)(1−2μ)Eμe+1+μE∂x∂u
σ y = E μ ( 1 + μ ) ( 1 − 2 μ ) e + E 1 + μ ∂ v ∂ y \sigma_y=\frac{E\mu}{(1+\mu)(1-2\mu)}e+\frac{E}{1+\mu}\frac{\partial v}{\partial y} σy=(1+μ)(1−2μ)Eμe+1+μE∂y∂v
σ z = E μ ( 1 + μ ) ( 1 − 2 μ ) e + E 1 + μ ∂ w ∂ z \sigma_z=\frac{E\mu}{(1+\mu)(1-2\mu)}e+\frac{E}{1+\mu}\frac{\partial w}{\partial z} σz=(1+μ)(1−2μ)Eμe+1+μE∂z∂w
τ x y = E 2 ( 1 + μ ) ( ∂ v ∂ x + ∂ u ∂ y ) \tau_{xy}=\frac{E}{2(1+\mu)}(\frac{\partial v}{\partial x}+\frac{\partial u}{\partial y}) τxy=2(1+μ)E(∂x∂v+∂y∂u)
τ y z = E 2 ( 1 + μ ) ( ∂ w ∂ y + ∂ v ∂ z ) \tau_{yz}=\frac{E}{2(1+\mu)}(\frac{\partial w}{\partial y}+\frac{\partial v}{\partial z}) τyz=2(1+μ)E(∂y∂w+∂z∂v)
τ z x = E 2 ( 1 + μ ) ( ∂ u ∂ z + ∂ w ∂ x ) \tau_{zx}=\frac{E}{2(1+\mu)}(\frac{\partial u}{\partial z}+\frac{\partial w}{\partial x}) τzx=2(1+μ)E(∂z∂u+∂x∂w)
其中, e = ∂ u ∂ x + ∂ v ∂ y + ∂ w ∂ z e=\frac{\partial u}{\partial x}+\frac{\partial v}{\partial y}+\frac{\partial w}{\partial z} e=∂x∂u+∂y∂v+∂z∂w。
关于其边界条件,如文章第一部分所示,主要由外界约束决定,如固定端、约束力等。这里,我们假设应力为
p
p
p,则:
∇
p
=
[
∂
σ
x
∂
x
+
∂
τ
y
x
∂
y
+
∂
τ
z
x
∂
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τ
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y
∂
x
+
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+
∂
τ
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∂
τ
x
z
∂
x
+
∂
τ
y
z
∂
y
+
∂
σ
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∂
z
]
\nabla p = \left[\begin{matrix} \frac{\partial\sigma_{x}}{\partial x}+\frac{\partial\tau_{yx}}{\partial y}+\frac{\partial\tau_{zx}}{\partial z} \\[1.5ex] \frac{\partial\tau_{xy}}{\partial x}+\frac{\sigma\tau_{y}}{\partial y}+\frac{\partial\tau_{zy}}{\partial z} \\[1.5ex] \frac{\partial\tau_{xz}}{\partial x}+\frac{\partial\tau_{yz}}{\partial y}+\frac{\partial\sigma_{z}}{\partial z} \end{matrix}\right]
∇p=⎣⎢⎢⎢⎡∂x∂σx+∂y∂τyx+∂z∂τzx∂x∂τxy+∂yστy+∂z∂τzy∂x∂τxz+∂y∂τyz+∂z∂σz⎦⎥⎥⎥⎤
整理为位移形式:
∇
p
=
[
(
λ
+
G
)
∂
e
∂
x
+
G
∇
2
u
(
λ
+
G
)
∂
e
∂
y
+
G
∇
2
v
(
λ
+
G
)
∂
e
∂
z
+
G
∇
2
w
]
\nabla p = \left[\begin{matrix} (\lambda+G)\frac{\partial e}{\partial x}+G\nabla^2u\\[1.5ex] (\lambda+G)\frac{\partial e}{\partial y}+G\nabla^2v\\[1.5ex] (\lambda+G)\frac{\partial e}{\partial z}+G\nabla^2w \end{matrix}\right]
∇p=⎣⎢⎢⎡(λ+G)∂x∂e+G∇2u(λ+G)∂y∂e+G∇2v(λ+G)∂z∂e+G∇2w⎦⎥⎥⎤
参考书籍:热应力理论分析及应用